罗经回路在船用航姿系统中的应用与工程实现

  目的  为了更好地研究罗经方位对准的收敛特性及参数设置问题，需分析陀螺常值漂移和初始方位误差对罗经方位收敛时间的影响。  方法  首先根据设计的罗经方位对准系统，求得陀螺常值漂移和初始方位误差在该系统下的频域响应，然后再通过拉普拉斯反变换求得相应的时域响应函数，并对求得的时域函数进行收敛时间分析。  结果  结果表明，罗经方位对准收敛时间不仅与设计的二阶阻尼震荡周期有关，还与陀螺常值漂移和初始方位误差的大小有关。设定0.01°的误差带为罗经方位对准收敛的判据，则当陀螺漂移小于0.05（°）/h时，罗经方位对准会在至多0.9个阻尼震荡周期收敛，当初始方位误差小于5°时，罗经方位对准会在至多1.4个阻尼震荡周期内收敛，且二者越小，收敛时间越短。而当二者共同作用时，对收敛时间起主要作用的是初始方位误差，陀螺常值漂移对收敛时间的影响较小。数值仿真结果，验证了该结论的正确性。  结论  该分析方法为罗经方位对准的控制收敛时间及参数设置提供了理论参考。

Engineering application and implementation of compass loop in attitude heading reference system

  Objectives  In order to research the convergence characteristics and parameter setting of compass azimuth alignment better, and analyze the influence of gyro constant drift and initial azimuth error on the convergence time of gyrocompass azimuth alignment,  Methods  the frequency domain response of gyro constant drift and initial azimuth error in the system was obtained by using the designed gyrocompass azimuth alignment system. Then the time domain response function was obtained by inverse Laplace transform, and the convergence time of the time domain function was analyzed.  Results  The analysis results show that the convergence time of gyrocompass azimuth alignment is related to the designed second order damped oscillation period, and is also related to the gyro constant drift and the initial azimuth misalignment. The convergence of gyrocompass azimuth alignment is judged by the error band of 0.01°. When the gyro drift is less than 0.05(°)/h, the gyrocompass azimuth alignment will converge in 0.9 damped oscillation periods at most. When the initial azimuth misalignment is less than 5°, the gyrocompass azimuth alignment will converge in 1.4 damped oscillation periods at most. The smaller the two factors are, the faster the gyrocompass azimuth alignment converges. When both of them work together, the initial azimuth error plays a major role in the control of the convergence time, and the gyro constant drift has a little influence on the convergence time. At last, the correctness of the analysis results in this paper is verified by numerical simulation.  Conclusions  The analytical method in this paper provides a theoretical reference for controlling the convergence time of the gyrocompass azimuth alignment and the parameter setting.